How do you really love and value yourself?

It is so important to love and value yourself fully.I have respect for myself and always try to stay true to myself but yet people often say I need to love myself for Me..not my achievements or anything like that.I dont usually care what people think of me but sometimes i do especially because im a people pleaser.How can i get to this stage where I fully love and honour myself,do not let people walk all over me but yet maintain healthy relationships?